Systems, devices, and methods for surgical navigation with anatomical tracking

Abstract

An approach is provided for image guided procedures. The approach includes acquiring image data of at least one object of a subject, in which the acquired image data is registered to one or more coordinate systems. The approach includes receiving the acquired image data. The approach includes displaying, on one or more smartglasses, one or more superimposed images over a portion of the subject. The one or more superimposed images may be related to the acquired image data. The approach includes aligning the one or more superimposed images to correspond with a position of the at least one object.

What is claimed is: 
     
       1. A system for performing an image guided procedure in an operating theater, the system comprising:
 an imaging device configured to acquire first image data of at least one object of a subject, the subject being in a first position with respect to a first coordinate system; 
 one or more smartglasses configured to acquire second image data of the at least one object of the subject with respect to a second coordinate system, the smartglasses including a localizer configured to track a position of at least one surgical tool or implant in a third coordinate system; 
 a plurality of fiducial portions configured to facilitate registration of the first and second image data; 
 a plurality of sockets incorporated into the plurality of fiducial portions, each said socket having a first end configured to be coupled to the at least one object of the subject and a second opposing end to which a tracker is removably coupleable; 
 the tracker configured to be coupled to and decoupled from the second opposing end of each of the plurality of sockets; and 
 the navigation system configured to (i) produce first registered image data by registering the first coordinate system and the second coordinate system of the first image data and second image data based on positions of the plurality of fiducial portions, (ii) produce second registered image data by transforming the first coordinate system of the first image data into a fourth coordinate system, and (iii) produce third registered image data by transforming the first coordinate system of the first image data into the third coordinate system of the localizer, the third and fourth coordinate systems being different than each other and registered to each other; 
 wherein the one or more smartglasses are further configured to:
 display at least a portion of the first image data so as to be superimposed over the at least one object in an environment being viewed by a person using the smartglasses; and 
 align the portion of the first image data which is displayed to correspond with a position of the at least one object using the plurality of fiducial portions; and 
 
 wherein the navigation system is further configured to:
 obtain positions of the tracker while the tracker is coupled to the plurality of sockets at different times; 
 determine a misalignment of a portion of the first image data to a current position of a respective socket of the plurality of sockets based on the positions of the tracker which were obtained; and 
 cause the one or more smartglasses to re-align the portion of the first image data being displayed to the current position of the respective socket during performance of the image guided procedure. 
 
 
     
     
       2. The system of  claim 1 , further comprising a work station configured to receive the first image data and to obtain segments of the first image data. 
     
     
       3. The system of  claim 1 , wherein the smartglasses are configured to display at least one first segment of the first image data with a translucent or semi-translucent effect and at least one second segment of the first image data with an opaque effect. 
     
     
       4. The system of  claim 1 , wherein the smartglasses are further configured to display the superimposed registered image data as two-dimensional images or three-dimensional images. 
     
     
       5. The system of  claim 1 , wherein the smartglasses are further configured to acquire real time images of the at least one object of the subject and receive an input to re-align the superimposed first image data on the basis of the real time image of the at least one object. 
     
     
       6. The system of  claim 5 , wherein the input corresponds to one or more fiducial points on the at least one object. 
     
     
       7. The system of  claim 6 , wherein the smartglasses are configured to automatically re-align the superimposed first image data based on a second position of the subject and the one or more fiducial points on the at least one object. 
     
     
       8. The system of  claim 5 , wherein the input corresponds to a user gesture interacting with the at least one object. 
     
     
       9. A method for performing image guided procedures in an operating theater, the method comprising:
 obtaining first image data of at least one object of a subject, the subject being in a first position with respect to a first coordinate system; 
 obtaining second image data of the at least one object of the subject with respect to a second coordinate system; 
 producing first registered image data by registering the first coordinate system and the second coordinate system of the first image data and the second image data based on positions of a plurality of fiducial portions; 
 producing second registered image data by transforming the first coordinate system of the first image data into a fourth coordinate system; 
 producing third registered image data by transforming the first coordinate system of the first image data into the third coordinate system of a localizer configured to track a position of at least one surgical tool or implant, the fourth coordinate system being different than the third coordinate system; 
 registering the third and fourth coordinate systems to facilitate tracking of the at least one surgical tool or implant in relation to the subject during the image guided procedure; 
 displaying at least a portion of the first image data so as to be superimposed over the at least one object in an environment being viewed by a person using smartglasses; 
 aligning the portion of the first image data which is displayed to correspond with a position of the at least one object using the plurality of fiducial portions; 
 obtaining positions of a tracker while the tracker is coupled to a plurality of sockets at different times; 
 determining a misalignment of a portion of the first image to a current position of a respective socket of the plurality of sockets based on the positions of the tracker which were obtained; and 
 causing a re-alignment of the portion of the first image data being displayed to the current position of the respective socket during performance of an image guided procedure. 
 
     
     
       10. The method of  claim 9 , further comprising segmenting the first image data, such that a user can select at least one of one or more superimposed images that corresponds to a segment of the first image data. 
     
     
       11. The method of  claim 9 , wherein the first image data is displayed in a translucent, semi-translucent, or opaque manner when superimposed over the at least one object in the environment being viewed by the person using smartglasses. 
     
     
       12. The method of  claim 9 , wherein the first image data comprises two-dimensional images or three dimensional images. 
     
     
       13. The method of  claim 9 , further comprising receiving an input to align image data. 
     
     
       14. The method of  claim 13 , wherein the input corresponds to one or more fiducial points on the at least one object. 
     
     
       15. The method of  claim 13 , wherein the input corresponds to a user gesture. 
     
     
       16. A computer program product, comprising:
 a non-transitory computer-readable storage medium having program instructions embodied therewith for performing image guided procedures, the program instructions executable by one or more processors, the program instructions comprising: 
 obtaining first image data of at least one object of a subject; 
 obtaining second image data of the at least one object of the subject; 
 producing first registered image data by registering a first coordinate system and a second coordinate system of the first image data and the second image data based on positions of a plurality of fiducial portions; 
 producing second registered image data by transforming the first coordinate system of the first image data into a fourth coordinate system; 
 producing third registering image data by transforming the first coordinate system of the first image data into the third coordinate system of a localizer configured to track a position of at least one surgical tool or implant, the fourth coordinate system being different than the third coordinate system; 
 registering the third and fourth coordinate systems to facilitate tracking of the at least one surgical tool or implant in relation to the subject during the image guided procedure; 
 displaying at least a portion of the first image data so as to be superimposed over the at least one object in an environment being viewed by a person using smartglasses; 
 aligning the portion of the first image data which is displayed to correspond with a position of the at least one object using the plurality of fiducial portions; 
 obtaining positions of a tracker while the tracker is coupled to a plurality of sockets at different times; 
 determining a misalignment of a portion of the first image to a current position of a respective socket based on the positions of the tracker which were obtained; and 
 causing a re-alignment of the portion of the first image data being displayed to the current position of the respective socket during performance of an image guided procedure. 
 
     
     
       17. The computer program product of  claim 16 , wherein the program instructions further comprise receiving an input to align images. 
     
     
       18. The computer program product of  claim 17 , wherein the input corresponds to a user gesture.